Shear force detection device, tactile sensor and grasping apparatus

ABSTRACT

A shear force detection device for detecting a shear force includes: a support body including an opening defined by a pair of straight parts perpendicular to a detection direction of the shear force and parallel to each other; a support film on the support body and closing the opening, the support film having flexibility; a piezoelectric part on the support film and extending astride an inside and outside of the opening and along at least one of the pair of straight parts of the opening when viewed in a plane in which the support body is seen in a substrate thickness direction, the piezoelectric part being bendable to output an electric signal; and an elastic layer covering the piezoelectric part and the support film.

This application claims priority to Japanese Patent Application No.2009-267935 filed Nov. 25, 2009 which is hereby expressly incorporatedby reference herein in its entirety.

BACKGROUND

1. Technical Field

The present invention relates to a shear force detection device todetect stress in a shear direction, a tactile sensor including the shearforce detection device and a grasping apparatus including the tactilesensor.

2. Related Art

A known grasping apparatus uses a robot arm, robot hand, robotmanipulator or the like to grasp and lift an object whose weight andfriction coefficient are unknown. To grasp the object without damagingor dropping the object, it is necessary to detect a force (positivepressure) acting in a direction perpendicular to the grasping surfaceand a force (shear force) acting in a surface direction (sheardirection) of the grasping surface. A known sensor is used to detectthese forces (see, for example, JP-A-2006-208248).

The tactile sensor disclosed in JP-A-2006-208248 has a cantileverstructural body extending from an edge portion of an opening opened in asensor substrate, and this structural body includes a plate-shapedsensitive part, and a hinge part to couple the sensitive part and thesensor substrate. A conductive magnetic film is formed on the sensitivepart of the structural body, a piezoresistive film is formed on thehinge part, and the conductive magnetic film and the piezoresistive filmare electrically connected. Further, an electrode is provided on thehinge part, and when the hinge part is bent by pressure, a currentgenerated in the piezoresistance of the hinge part flows from theelectrode. In this tactile sensor, plural such structural bodies areformed on the sensor substrate, some of these structural bodies areerected with respect to the sensor substrate, and the others are kept inparallel to the sensor substrate. Still further, an elastic body isprovided on the sensor substrate, and the erected structural body isembedded in the elastic body. As such, the erected structural body canmeasure the shear force, and the structural body parallel to thesubstrate surface can measure the positive pressure.

In order to manufacture the tactile sensor as stated above, a P-typeresistance region is formed in the surface of the sensor substrate by aheat diffusion method or the like, and a conductive magnetic layer ispatterned by sputtering. Then, the conductive magnetic layer is used asa mask, an impurity layer and a Si layer are removed by ion etching, andfurther, the conductive magnetic film formed on the surface of the hingepart is etched. Thereafter, an opening part for shaping the outer shapeof the structural body is formed by reactive ion etching or the like.Some of the plural structural bodies are erected by applying a magneticfield from the rear side of the sensor substrate, and the tactile sensoris manufactured.

The tactile sensor as disclosed in JP-A-2006-208248 has a complicatedthree-dimensional structure in which the cantilever structural body iserected, and the manufacturing thereof includes a complicatedmanufacturing process in which the magnetic field is applied to bend thecantilever structural body. Accordingly, the productivity is poor.

SUMMARY

An advantage of some aspects of the invention is to provide a shearforce detection device capable of measuring shear force and having asimple structure, a tactile sensor and a grasping apparatus.

According to a first aspect of the invention, there is provided a shearforce detection device for detecting a shear force, including a supportbody including an opening part having a pair of straight partsperpendicular to a detection direction of the shear force and parallelto each other, a support film formed on the support body to close theopening part and having flexibility, a piezoelectric part that isprovided on the support film to extend astride the inside and outside ofthe opening part and along at least one of the pair of straight parts ofthe opening part when viewed in a plane in which the support body isseen in a substrate thickness direction, and is bent to output anelectric signal, and an elastic layer to cover the piezoelectric partand the support film.

According to the first aspect of the invention, in the shear forcedetection device, the support film is formed on the support body in thestate of closing the opening part, the piezoelectric part is laminatedon the support film to extend astride the inside and outside of theopening part, and the elastic layer is further laminated on the upperlayer thereof. Here, in the following description, the support film atthe region in the opening part is called a membrane.

In the shear force detection device as stated above, when an objectcontacts with the elastic film, and a force is applied in a directionperpendicular to one direction of the opening part, a distortion occursin the elastic layer. The entire membrane is distorted by the distortionof the elastic layer, and an electric signal (current) is outputted fromthe piezoelectric part. Accordingly, for example, when the shear forcedetection device as stated above is provided on the grasping surface forgrasping an object, the shear force applied to the grasping surface fromthe contacted object can be measured by the electric signal outputtedfrom the shear force detection device.

According to the first aspect of the invention, since the shear forcedetection device has the structure in which the support film, thepiezoelectric part and the elastic layer are laminated on the supportbody, a complicated manufacturing method, such as applying a magneticfield to process a part of structure, is not required, and the shearforce detection device can be manufactured by the simple method oflaminating the respective components. Accordingly, the productivity ofthe shear force detection device becomes excellent, and the costrequired for manufacturing can also be reduced. For example, in thestructure in which the cantilever structural body is erected, since thestructural body is erected, the thickness is increased. However,according to the first aspect of the invention, since the film-likesupport film, the piezoelectric part and the elastic layer are laminatedon the support body, the increase of the thickness can be suppressed,and the shear force detection device can be miniaturized.

It is preferable that in the shear force detection device, thepiezoelectric part and the opening part are formed to have a rectangularshape in which a length of a long side is larger than a length of ashort side when viewed in the plane, the straight part in the openingpart is the long side of the opening part, and a piezoelectric bodylongitudinal direction along the long side of the piezoelectric part andan opening part longitudinal direction along the long side of theopening part are the same direction.

When the opening part is formed to have the rectangular shape in thesupport body, when a shear force in the direction along the longitudinaldirection of the opening part is received from an object brought intocontact with the elastic layer, it is difficult to cause a distortion inthe membrane. When a shear force in the direction perpendicular to thelongitudinal direction of the opening part is received, it is easy tocause a distortion in the membrane in the direction perpendicular to thelongitudinal direction.

At this time, when the piezoelectric part is provided at one side edgeof the opening part along the longitudinal direction, and thelongitudinal direction of the opening part and the longitudinaldirection of the piezoelectric part are made coincident to each other.As a result, even when any position of the membrane is distorted, thepiezoelectric part can detect the distortion. When the piezoelectricpart is arranged so that the longitudinal direction thereof isperpendicular to the longitudinal direction of the opening part, thereis a concern that the piezoelectric part inhibits the distortion of thesupport film, and it becomes difficult to detect the shear force at highaccuracy. On the other hand, as stated above, in the structure in whichthe longitudinal direction of the piezoelectric part and thelongitudinal direction of the opening part are made coincident, thepiezoelectric part does not inhibit the distortion of the support film,and the support film can be distorted according to the shear force fromthe object. Accordingly, it becomes possible to further improve thedetection accuracy of the shear force.

The shear force detection device may include a compliance part that isprovided in parallel to the straight part at a center part of theopening part in the detection direction, and, when viewed in a sectionin which the shear force detection device is seen in a straightdirection of the straight part, generates an inflection point in adeformed state of the support film when the shear force is applied alongthe shear direction.

Here, the compliance part may be formed such that for example, a grooveis formed in the support film in parallel to the straight part at acenter position in the shear direction and the thickness is made thinnerthan that of another part of the membrane. Alternatively, a portionwhere a laminate body is not provided may be made the compliance partaccording to the formation position of the laminate body, such as, forexample, the piezoelectric part or a reinforcing film, formed on thesupport film. Further, the compliance part may be formed by causing adifference to occur in the total film thickness between the laminatebody, such as, for example, the piezoelectric part or the reinforcingpart formed on the support film, and the support film. That is, thecompliance part may have any structure as long as the inflection pointis generated in the membrane.

When an object contacts with the elastic layer and a shear force isapplied, for example, when the straight part of the opening part is madea first side and a second side, and the shear force is applied in thedetection direction directed from the first side to the second side, aforce as described below acts in the elastic layer. That is, on the sideof the second side of the elastic layer, a swelling force in theopposite direction to one surface on which the support body is providedoccurs, and on the side of the first side, an entering force into theopening part of the support body occurs. Here, when the compliance partis provided, a displacement along the axial direction (normal directionto the surface direction of the support film) of the opening part at thecompliance part becomes small, the compliance part is kept at almost theconstant position, and the compliance part expands and contracts, sothat the membrane is distorted while the compliance part is made theinflection point. As such, with respect to the compliance part, themembrane is distorted into a concave shape toward the opening part sideon the side of the first side of the membrane, and the membrane isdistorted into a convex shape in the direction of separating from thesupport body on the side of the second side of the membrane.Accordingly, as a whole, the distortion is formed which is substantiallypoint-symmetric while the compliance part is made substantially thecenter. That is, when viewed in the section in which the support film isseen in the straight direction of the straight part, the support film isdeformed into a sine wave shape with one wavelength while the compliancepart is substantially the center. When such a distortion is formed, forexample, as compared with a case where the entire membrane enters theopening part side and is deformed into a sine waveform shape with a halfwavelength, the displacement amount of the piezoelectric part can beincreased, and the electric signal outputted from the piezoelectric partis also increased. By acquiring the large signal value as stated above,the shear force detection with less influence of noise can be performedat higher accuracy.

It is preferable that in the shear force detection device, the supportbody includes a support reinforcing part provided at the center of theopening part in the detection direction and in parallel to the straightpart, and the compliance part is provided on the support reinforcingpart.

In this case, since the compliance part provided on the supportreinforcing part is held by the support reinforcing film, even if theshear force is applied, it is held at a constant position. Thus, forexample, when the straight part of the opening part is made a first sideand a second side, and the shear force is applied in the detectiondirection directed from the first side to the second side, with respectto the compliance part, the distortion shape of the membrane on the sideof the first side and the distortion shape of the membrane on the sideof the second side can be made more accurately symmetric with eachother.

Here, when viewed in the section in which the shear force detectiondevice is seen in the straight direction of the straight part, when thedistortion of the membrane does not become point-symmetric between thefirst side and the second side, for example, when the distortion on theside of the first side is small, the electric signal outputted from thepiezoelectric part provided along the first side becomes low, and thedetection accuracy of the shear force is reduced. On the other hand, inthe aspect of the invention, the compliance part is held at the constantposition by the support reinforcing part, and the distortion of themembrane can be made substantially point-symmetric with respect to thecompliance part. Thus, the distortion amount on the side of the firstside and that on the side of the second side become the same value.Accordingly, even when the piezoelectric part is formed on the side ofthe first side or formed on the side of the second side, the distortionamount of the membrane can be detected at high accuracy.

It is preferable that in the shear force detection device, thepiezoelectric part is provided on each of both the pair of straightparts of the opening part.

When the compliance part is formed as stated above, when viewed in thesection along the straight direction of the straight part, while thecompliance part is made the inflection point, the distortion shape thatis more point-symmetric between the first side and the second side ofthe membrane is formed. Accordingly, when the piezoelectric part isprovided on each of the first side and the second side, and thedistortion is detected by the two piezoelectric parts, an accurateelectric signal corresponding to the distortion of the membrane can beobtained.

It is preferable that the shear force detection device includes anarithmetic circuit to output at least one of the difference and the sumof the electric signals outputted from the two piezoelectric parts.

When the piezoelectric part is formed on each of the first side and thesecond side as stated above, when a shear force is applied, thedistortion which is substantially point-symmetric between the first sideand the second side of the membrane is formed. Accordingly, the electricsignal corresponding to the distortion amount is outputted from each ofthe piezoelectric part provided on the first side and the piezoelectricpart provided on the second side. Accordingly, when the absolute valuesof the electric signals outputted from these piezoelectric parts areadded, a larger electric signal can be obtained, and the shear forcedetection with higher accuracy can be performed.

Here, in order to obtain the sum of the absolute values of the electricsignals outputted from the respective piezoelectric parts, an additioncircuit may be used or a subtraction circuit may be used.

The piezoelectric part is formed of a piezoelectric film, an upperelectrode formed on the upper surface of the film, and a lower electrodeformed on the lower surface of the film. Here, when the addition circuitis used, the upper electrode of the piezoelectric part at the first sideand the lower electrode of the piezoelectric part at the second side areconnected to each other by a first connection line, and the lowerelectrode of the piezoelectric part at the first side and the upperelectrode of the piezoelectric part at the second side are connected toeach other by a second connection line. The first connection line andthe second connection line are connected to the addition circuit. Whenthe subtraction circuit is used, the upper electrode of thepiezoelectric part at the first side and the upper electrode of thepiezoelectric part at the second side are connected to each other by afirst connection line, and the lower electrode of the piezoelectric partat the first side and the lower electrode of the piezoelectric part atthe second side are connected to each other by a second connection line.The first connection line and the second connection line are connectedto the subtraction circuit.

As described above, since the distortion directions in the respectivepiezoelectric parts are opposite to each other, the positive andnegative signs of the electric signal outputted from the piezoelectricpart at the first side and the electric signal outputted from thepiezoelectric part at the second side are opposite to each other. On theother hand, when the addition circuit or the subtraction circuit isused, the positive and negative signs of the respective electric signalsare uniformed, and the sum of the absolute values of the respectiveelectric signals can be calculated.

It is preferable that in the shear force detection device, the elasticlayer includes a plurality of elastic members provided along thedetection direction and having rigidity higher than the support film.

Here, the elastic member may be formed into a plate shape and isdisposed such that the plate surface direction is parallel to thestraight direction of the straight part, and the plate thicknessdirection is the detection direction, or may be constructed such that aplurality of rod-shaped members are erected in the membrane.

In the structure using the elastic members as stated above, when anobject contacts with the elastic member and a shear force acts, therespective elastic members are inclined by moment force. Then, thecoupling part between the elastic member and the support film isinclined by the inclination of the elastic member, and distortion occursin the membrane. In the structure as stated above, the distortion amountof the membrane can be increased by using the moment force, and a largerelectric signal can be outputted from the piezoelectric part.

According to a second aspect of the invention, there is provided atactile sensor including a plurality of the foregoing shear forcedetection devices, and including a first direction shear force detectingpart in which the straight part of the shear force detection device isprovided along a specified first direction, and a second direction shearforce detecting part in which the straight part of the shear forcedetection device is provided along a second direction different from thefirst direction.

In the shear force detection device as described above, a directionperpendicular to the straight part of the opening part in which thepiezoelectric part is provided is the detection direction, and the shearforce acting in this detection direction is detected. Accordingly, asdescribed above, by providing the first direction shear force detectingpart and the second direction shear force detecting part in which thestraight parts are different from each other, the shear forces indifferent directions can be detected. By providing the plurality of suchshear force detection devices, shear forces acting in all directions inthe sensor surface on which the tactile sensor is provided can bedetected. As described above, each of the shear force detection deviceshas the simple structure in which the support film, the piezoelectricpart and the elastic layer are laminated on the support body, and thedevice can be easily manufactured. Thus, the tactile sensor using suchshear force detection devices can also be made to have a simplestructure, and the manufacturing becomes easy.

It is preferable that the tactile sensor includes a positive pressuredetecting part to detect a pressure in a contact direction perpendicularto a surface direction of the support film at a time of contact with anobject, the positive pressure detecting part includes a positivepressure detection opening part opened in the support body, a supportfilm to close the positive pressure detection opening part and havingflexibility, a positive pressure detection piezoelectric body that isprovided on the support film and inside the positive pressure detectionopening part when viewed in a plane in which the support body is seen ina substrate thickness direction, and is bent to output an electricsignal, and an elastic layer to cover the positive pressurepiezoelectric body and the support film.

In this case, in addition to the shear force acting on the sensorsurface, a pressure (hereinafter referred to as a positive pressure) inthe direction perpendicular to the sensor surface can also be detected.By using the tactile sensor as stated above, for example, in anapparatus for grasping a material body, the positive pressure and theslide force can be measured at the time of grasping. When a graspingoperation is controlled based on the electric signal outputted from thetactile sensor, the grasped object can be grasped without damaging anddropping the object. Further, similarly to the shear force detectiondevice, the positive pressure detecting part has the structure in whichthe support film, the positive pressure detection piezoelectric body andthe elastic layer are provided on the support body, and has the simplelaminate structure similar to the foregoing shear force detectiondevice. Accordingly, the positive pressure detecting part can bemanufactured simultaneously with the manufacturing of the shear forcedetection device, and the manufacturing efficiency of the tactile sensorcan be more improved.

According to a third aspect of the invention, there is provided agrasping apparatus including the foregoing tactile sensor and grasps theobject, and including at least a pair of grasping arms which grasp theobject and in which the tactile sensor is provided on a contact surfaceto contact with the object, a grasping detection unit that detects aslide state of the object based on an electric signal outputted from thetactile sensor, and a drive control unit that controls driving of thegrasping arms based on the slide state.

In this case, as described above, the shear force when the graspedobject is grasped is measured, so that it is possible to measure whetherthe object is in a state of sliding down from the grasping arm or in astate where the object is grasped. That is, in the operation of graspingthe object, in the state where the object is not sufficiently grasped, ashear force corresponding to a dynamic friction force acts, and as thegrasping force is increased, this shear force becomes large. On theother hand, the grasping force is increased, and in the state where ashear force corresponding to a static friction force is detected, thegrasping of the object is completed, and even when the grasping force isincreased, the static friction force is constant, and the shear force isnot changed. Accordingly, for example, the grasping force of the objectis gradually increased, and when the time point when the shear force isnot changed is detected, the object can be grasped by the minimumgrasping force without damaging the object.

As described above, the tactile sensor constituting the graspingapparatus has the simple structure including the shear force detectiondevice having the simple structure in which the support film, thepiezoelectric part and the elastic layer are laminated on the supportbody, and can be easily manufactured. Thus, the grasping apparatus usingthe tactile sensor as described above can also be similarly made to havethe simple structure, and the manufacturing also becomes easy.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described with reference to the accompanyingdrawings, wherein like numbers reference like elements.

FIG. 1 is a sectional view showing a schematic structure of a shearforce detection device of a first embodiment of the invention.

FIG. 2 is a plan view of the shear force detection device of the firstembodiment.

FIGS. 3A and 3B are views showing states where a grasped object contactswith the shear force detection device and a shear force is applied, inwhich FIG. 3A is a view showing a state before a shear force detectionmembrane is deformed and FIG. 3B is a view showing a state where theshear force detection membrane is deformed by the shear force.

FIGS. 4A to 4C are views showing a potential difference generated in ashear force detection piezoelectric film, in which FIG. 4A is a viewshowing a state where the shear force detection piezoelectric film isnot deformed, FIG. 4B is a view showing a state where the shear forcedetection piezoelectric film is extended, and FIG. 4C is a view showinga state where the shear force detection piezoelectric film iscompressed.

FIG. 5 is a circuit diagram showing a schematic structure of anarithmetic circuit of the shear force detection device of the firstembodiment.

FIGS. 6A and 6B are views showing an example of a waveform of anelectric signal outputted from the shear force detection device, inwhich FIG. 6A is a view showing the waveform at a point Sa in FIG. 5,and FIG. 6B is a view showing the waveform at a point Sb in FIG. 5.

FIGS. 7A and 7B are views showing a shear force detection device of asecond embodiment, in which FIG. 7A is a sectional view showing theshear force detection device cut along a short side direction of a shearforce detection opening part, and FIG. 7B is a plan view of the shearforce detection device.

FIGS. 8A and 8B are sectional views showing a shear force detectiondevice of a third embodiment cut along a short side direction of a shearforce detection opening part, in which FIG. 8A is a view showing a statewhere a shear force is not applied, and FIG. 8B is a view showing astate where a shear force is applied.

FIG. 9 is a plan view in which a part of a tactile sensor of a fourthembodiment is enlarged.

FIG. 10 is a plan view showing a modified example of a tactile sensor.

FIGS. 11A and 11B are views showing a schematic structure of a positivepressure detecting part of the fourth embodiment, in which FIG. 11A is asectional view of the positive pressure detecting part cut along asubstrate thickness direction of a sensor substrate, and FIG. 11B is aplan view of the positive pressure detecting part when viewed in asensor plane.

FIG. 12 is an apparatus block diagram showing a schematic structure of agrasping apparatus of a fifth embodiment.

FIG. 13 is a view showing a relation between a positive pressure and ashear force acting on a tactile sensor in a grasping operation of thegrasping apparatus.

FIG. 14 is a flowchart showing the grasping operation of the graspingapparatus by control of a control device.

FIG. 15 is a timing chart showing signal timings of a drive controlsignal to an arm drive part and a detection signal outputted from atactile sensor at the time of the grasping operation of the graspingapparatus.

FIG. 16 is a plan view showing a part of a tactile sensor of anotherembodiment.

FIGS. 17A and 17B are views showing a shear force detection devicehaving a bimorph shear force detection piezoelectric body of a stillanother embodiment, in which FIG. 17A is a sectional view along a shortside direction, and FIG. 17B is a plan view when viewed in a sensorplane.

FIGS. 18A and 18B are views showing a structure of a shear forcedetection device of a still another embodiment, in which FIG. 18A is asectional view cut along a short side direction, and FIG. 18B is a planview when viewed in a sensor plane.

FIG. 19 is a plan view showing a structure of a shear force detectiondevice of still another embodiment.

FIG. 20 is a plan view showing a structure of a shear force detectiondevice of still another embodiment.

DESCRIPTION OF EXEMPLARY EMBODIMENTS First Embodiment

Hereinafter, a shear force detection device of a first embodiment of theinvention will be described with reference to the drawings.

1. Structure of the Shear Force Detection Device

FIG. 1 is a sectional view showing a schematic structure of a shearforce detection device 200 of this embodiment, and FIG. 2 is a plan viewof the shear force detection device 200.

As shown in FIG. 1, the shear force detection device 200 is constructedsuch that a support film 14, a shear force detection piezoelectric body210 constituting a piezoelectric part according to the invention, and anelastic film 15 as an elastic layer are laminated on a sensor substrate11 as a support body. The shear force detection device 200 is the deviceto detect a shear force when an object contacts with the elastic film 15and the object moves in a shear direction.

The sensor substrate 11 is formed of, for example, Si, and its thicknessis, for example, 200 μm. As shown in FIG. 1 and FIG. 2, a shear forcedetection opening part 111 as an opening part according to the inventionis formed in the sensor substrate 11. The shear force detection openingpart 111 is formed to be rectangular when viewed in a plane, and a longside constituting the rectangle (a long sidewall) constitutes a straightpart according to the invention. Here, a direction along the long sideof the shear force detection opening part 111 is a straight direction ofthe straight part according to the invention, and this direction is setas a Y direction. A direction along a short side of the shear forcedetection opening part 111 (along the short sidewall) is a detectiondirection in the invention, and this detection direction is set as an Xdirection.

In this embodiment, the shear force detection opening part 111 is formedto have a long side size L of 500 μm and a short side size W of 100 μm.Incidentally, the size of the shear force detection opening part 111 ispreferably formed so that the ratio of the long side size L to the shortside size W is L/W≧2, and no limitation is made to the above size. Thatis, in the shear force detection device 200, for example, when the shearforce detection opening part 111 is formed so that the ratio of the longside size L to the short side size W is L/W<2, by the distortion of theelastic film 15 in the Y direction, the support film 14 is alsodistorted in the Y direction, and the detection of the distortion inonly the X direction becomes difficult. On the other hand, when theratio of the long side size L to the short side size W is L/W≧2, thedistortion of the support film 14 in the Y direction can be reduced, andthe shear force in the X direction can be detected with high accuracy.

Although not shown, the support film 14 is formed of two layersincluding a SiO₂ layer of a thickness of, for example, 3 μm laminated onthe sensor substrate 11 and a ZrO₂ layer of a thickness of, for example,400 nm laminated on the SiO₂ layer. Here, the ZrO₂ layer is a layerformed to prevent peeling of a shear force detection piezoelectric film211 at the time of firing of the shear force detection piezoelectricbody 210 described later. That is, when the shear force detectionpiezoelectric film 211 is formed of, for example, PZT, when the ZrO₂layer is not formed at the time of firing, Pb contained in the shearforce detection piezoelectric film 211 is diffused into the SiO₂ layer,the melting point of the SiO₂ film is lowered, an air bubble isgenerated on the surface of the SiO₂ layer, and the PZT is peeled off bythe air bubble. When the ZrO₂ layer is not provided, there is a problemthat the distortion efficiency to the distortion of the shear forcedetection piezoelectric film 211 is reduced. On the other hand, when theZrO₂ layer is formed on the SiO₂ layer, it becomes possible to avoiddisadvantages such as the peeling of the shear force detectionpiezoelectric film 211 and the reduction of the distortion efficiency.

In the following description, when viewed in a sensor plane as shown inFIG. 2 (a plan view), an area of the support film 14, which closes theshear force detection opening part 111, is called a shear forcedetection membrane 141.

The shear force detection piezoelectric body 210 includes the film-likeshear force detection piezoelectric film 211, and a shear forcedetection lower electrode 212 and a shear force detection upperelectrode 213 which are respectively formed in the thickness directionof the shear force detection piezoelectric film 211.

The shear force detection piezoelectric film 211 is formed by forming afilm of, for example, PZT (lead zirconate titanate) having a thicknessof, for example, 500 nm. Incidentally, in this embodiment, although PZTis used for the shear force detection piezoelectric film 211, anymaterial may be used as long as an electric charge can be generated bystress change of the film. For example, lead titanate (PbTiO₃), leadzirconate (PbZrO₃), lanthanum lead titanate ((Pb, La)TiO₃), aluminumnitride (AlN), zinc oxide (ZnO), polyvinylidene fluoride (PVDF) or thelike may be used. In the shear force detection piezoelectric film 211,when the support film is distorted by the shear force, a potentialdifference is generated between the shear force detection lowerelectrode 212 and the shear force detection upper electrode 213correspondingly to the distortion amount. As such, a current from theshear force detection piezoelectric film 211 flows to the shear forcedetection lower electrode 212 and the shear force detection upperelectrode 213, and an electric signal is outputted.

The shear force detection lower electrode 212 and the shear forcedetection upper electrode 213 are electrodes formed at both sides of theshear force detection piezoelectric films 211 in the film thicknessdirection. The shear force detection lower electrode 212 is formed onthe surface of the shear force detection piezoelectric film 211 facingthe shear force detection membrane 141, and the shear force detectionupper electrode 213 is formed on the surface opposite to the surface onwhich the shear force detection lower electrode 212 is formed.

The shear force detection lower electrode 212 is the film-like electrodehaving a thickness of, for example, 200 nm. Any material may be used forthe shear force detection lower electrode 212 as long as the material isa conductive thin film having conductivity. In this embodiment, forexample, a laminate structure film of Ti/Ir/Pt/Ti is used.

The shear force detection upper electrode 213 is the film-like electrodehaving a thickness of, for example, 50 nm. Any material may be used forthe shear force detection upper electrode 213 as long as the material isa conductive thin film. In this embodiment, an Ir thin film is used.

The shear force detection piezoelectric body 210 is formed into arectangular shape having a longest length in the same direction as thelongitudinal direction (Y direction) of the shear force detectionopening part 111, and a pair of the shear force detection piezoelectricbodies are provided along the long sides 111A of the shear forcedetection opening part 111. When viewed in a plane, each of the shearforce detection piezoelectric bodies 210 (210A, 210B) is arranged acrossthe long side 111A of the shear force detection opening part 111 so asto extend astride the inside and outside of the shear force detectionopening part 111.

In the shear force detection piezoelectric body 210, the shear forcedetection lower electrode 212 is formed along the X direction from asubstrate part 113 to the shear force detection membrane 141.Specifically, in the shear force detection piezoelectric body 210Aarranged on a −X direction side, the shear force detection lowerelectrode 212 is formed to slightly protrude in a +X direction from anedge of the shear force detection piezoelectric film 211 on a +X side.In the shear force detection piezoelectric body 210B arranged on the +Xdirection side, the shear force detection lower electrode 212 is formedto slightly protrude in the −X direction from an edge of the shear forcedetection piezoelectric film 211 on the −X side. Here, a distancebetween an edge (lower electrode tip edge 2121) of the shear forcedetection lower electrode 212 along the Y direction and the long side111A of the shear force detection opening part 111 is smaller than ½ ofthe short side size W of the shear force detection opening part 111, andis, for example, 40 μm. Accordingly, a gap of a specified size (forexample, 20 μm) is formed between the shear force detection lowerelectrode 212 arranged in the shear force detection membrane 141 fromthe −X direction and the shear force detection lower electrode 212arranged in the shear force detection membrane 141 from the +Xdirection. In this portion, the shear force detection piezoelectric film211 and the shear force detection upper electrode 213 as well as theshear force detection lower electrode 212 are not laminated, and thisportion becomes a compliance part 143 which is softest and easilydeformed in the support film 14.

The shear force detection piezoelectric film 211 extending in the Ydirection is formed on the shear force detection lower electrode 212 tocover a portion between a pair of edges (lower electrode side edges2122) of the shear force detection lower electrode 212 along the Xdirection. Further, the shear force detection upper electrode 213extending in the Y direction is formed on the shear force detectionpiezoelectric film 211 to cover a portion between a pair of edges(piezoelectric film side edges 2111) of the shear force detectionpiezoelectric film 211 along the X direction. The shear force detectionupper electrode 213 is formed, for example, between a pair of oppositeshort sides 111B of the shear force detection opening part 111, andextends in the X direction from the vicinity of the short side 111B toform a leader part 2131. In the shear force detection piezoelectric body210 as stated above, since there is no portion where the shear forcedetection lower electrode 212 and the shear force detection upperelectrode 213 come in direct contact with each other, the electricsignal outputted from the shear force detection piezoelectric body 210can be easily extracted without covering the respective electrodes 212and 213 with insulating films.

In the shear force detection piezoelectric body 210, a portion where theshear force detection lower electrode 212, the shear force detectionpiezoelectric film 211 and the shear force detection upper electrode 213overlap with each other in the film direction becomes a piezoelectriclaminate part 214 to detect the distortion amount of the support film.

Here, the piezoelectric laminate part 214 is formed into a rectangularshape having a longest length in the Y direction, and when viewed in asensor plane as shown in FIG. 2 (a plan view), a length L_(p) in the Ydirection is smaller than a length L of the long side 111A of the shearforce detection opening part 111, and a distance L_(G) between an edge(lower electrode side edge 2122) along the X direction and the shortside 111B of the shear force detection opening part 111 is formed to belarger than at least the short side size W of the shear force detectionopening part 111. Incidentally, in this embodiment, the distance L_(G)is formed to be 120 μm.

This is because when the distance L_(G) is not larger than the shortside size W of the shear force detection opening part 111, there is aconcern that the distortion detection accuracy in the X direction isreduced. That is, in the rectangular shear force detection membrane 141,since the support film 14 on the short side 111B of the shear forcedetection opening part 111 is fixed to the substrate 113, even if theelastic film 15 is distorted, the support film 14 is not displaced.Accordingly, in the vicinity of the short side 111B, since distortiondoes not occur to the shear force, when the distortion of the supportfilm 14 in this region is detected, it becomes difficult to measure anaccurate shear force. On the other hand, as stated above, when thedistance L_(G) is larger than the short side size W of the shear forcedetection opening part 111, the distortion corresponding to the shearforce can be generated in the support film 14, and the distortion in theY direction is not generated in the support film 14 by the shear forcein the X direction. Thus, the shear force can be measured at highaccuracy.

Although the piezoelectric laminate part 214 is formed to extend astridethe inside and outside of the shear force detection membrane 141, it ispreferable that a size W_(p1) of the piezoelectric laminate part 214along the X direction in the shear force detection membrane 141 isformed to be equal to or less than ⅓ of a size L_(p) of thepiezoelectric laminate part 214 along the Y direction. For example, inthis embodiment, the sizes are W_(p1)=30 μm and L_(p)=260 μm. This isbecause when the size W_(p1) of the piezoelectric laminate part 214along the X direction in the shear force detection membrane 141 isformed to be larger than ⅓ of the size L_(p) of the piezoelectriclaminate part 214 along the Y direction, the possibility that theinfluence of the shear force in the Y direction is received becomes highin the piezoelectric laminate part 214. On the other hand, as statedabove, when the size of the piezoelectric laminate part 214 is formed sothat 3W_(p1)≦L_(p) is established, the influence of the shear force inthe Y direction is removed, and it becomes possible to distort thesupport film 14 and the piezoelectric laminate part 214 by the shearforce in the X direction.

In the piezoelectric laminate part 214, it is preferable that in theoutside of the shear force detection membrane 141, a size W_(p2) alongthe X direction is formed to be five or more times larger than the sumof the film thicknesses of the support film 14 and the piezoelectriclaminate part 214. In this embodiment, the sum of the film thicknessesof the support film 14 and the piezoelectric laminate part 214 is about4.15 μm, and the size W_(p2) is, for example, 25 μm.

Here, when the size W_(p2) of the piezoelectric laminate part 214 alongthe X direction in the outside of the shear force detection membrane 141is less than five times as large as the sum of the film thicknesses ofthe support film 14 and the piezoelectric laminate part 214, there is aproblem as described below. That is, when the shear force detectionmembrane 141 is deformed by the shear force, there occurs a moment forceby which each layer is urged to enter the shear force detection openingpart 111 by the shear force or a moment force by which each layer isurged to rise in a direction of separating from the shear forcedetection opening part 111. The moment forces act on each of the supportfilm 14, the shear force detection lower electrode 212, the shear forcedetection piezoelectric film 211 and the shear force detection upperelectrode 213, and deform the shear force detection membrane 141 and theshear force detection piezoelectric body 210. At this time, in theoutside region of the shear force detection membrane 141 of thepiezoelectric laminate part 214 in the shear force detectionpiezoelectric body 210, as a distance from the edge (long side 111A) ofthe shear force detection opening part 111 becomes large, the stresscaused by the deformation of the shear force detection membrane 141becomes small. Here, when the size W_(p2), in the X direction, of theportion formed outside the shear force detection membrane 141 in thepiezoelectric laminate part 214 is W_(p2)<5t (t denotes the sum of filmthicknesses), since the stress caused by the deformation of the shearforce detection membrane 141 can not be sufficiently received, thestable deformation of the shear force detection membrane 141 can not beobtained. There is a concern that the respective films 311, 312 and 313constituting the shear force detection piezoelectric body 210 will peel.On the other hand, when the shear force detection piezoelectric body 210is formed so that the size W_(p2) is W_(p2)≧5t, the deformation of theshear force detection membrane 141 can be stabilized, and disadvantagessuch as peeling can be avoided.

The elastic film 15 is the film formed to cover the support film 14 andthe shear force detection piezoelectric body 210. As the elastic film15, for example, PDMS (PolyDiMethyl Siloxane) is used in thisembodiment. However, no limitation is made to this, and the elastic filmmay be formed of another elastic material such as synthetic resin havingelasticity. Although the thickness of the elastic film 15 is notparticularly limited, the thickness is, for example, 300 μm.

The elastic film 15 functions as a protective film for the shear forcedetection piezoelectric body 210, and transmits the shear force appliedto the elastic film 15 to the shear force detection membrane 141 anddistorts it. The shear force detection membrane 141 is distorted by thedistortion of the elastic film 15, so that the shear force detectionpiezoelectric body 210 is also distorted, and an electric signalcorresponding to the distortion amount is outputted.

2. Operation of the Shear Force Detection Device

Next, the operation of the shear force detection device as describedabove will be described with reference to the drawings.

FIGS. 3A and 3B are views showing a state where a grasped object Acontacts with the shear force detection device and stress (shear force)is applied in an arrow P1 direction, in which FIG. 3A is a view showinga state before the shear force detection membrane 141 is deformed andFIG. 3B is a view showing a state where the shear force detectionmembrane 141 is deformed by the shear force.

As shown in FIG. 3A, in the shear force detection device 200, when theobject A contacts with the elastic film 15 and the shear force isapplied in the arrow P1 direction, as shown in FIG. 3B, distortionoccurs in the shear force detection membrane 141.

That is, when the shear force is generated in the elastic film 15, asindicated by an arrow M1, a downward moment force toward the shear forcedetection opening part 111 is generated on the −X side surface of theshear force detection membrane 141, and as indicated by an arrow M2, anupward moment force from the shear force detection opening part 111 isgenerated on the +X side surface.

At this time, since the compliance part 143 which has the film thicknesssmaller than that of the other part of the shear force detectionmembrane 141 and is soft is formed at the center position of the shearforce detection membrane 141, the compliance part 143 becomes aninflection point, and the shear force detection membrane 141 isdistorted into a sine waveform shape with one wavelength.

FIGS. 4A and 4B are views schematically showing a potential differencegenerated in the shear force detection piezoelectric film 211, in whichFIG. 4A is a view showing a state where the shear force detectionpiezoelectric film 211 is not deformed, FIG. 4B is a view showing astate where the shear force detection piezoelectric film 211 isextended, and FIG. 4C is a view showing a state where the shear forcedetection piezoelectric film 211 is compressed.

In order to detect the shear force by the shear force detection device200 as stated above, a voltage is previously applied between the shearforce detection upper electrode 213 and the shear force detection lowerelectrode 212, and the polarization is caused as shown in FIG. 4A. Inthis state, when distortion occurs in the shear force detection membrane141 as shown in FIG. 3B, a potential difference occurs in the shearforce detection piezoelectric film 211.

Specifically, when the shear force as indicated by the arrow P1 of FIG.3A is applied, similarly to the shear force detection membrane 141, themoment force as indicated by the arrow M1 is applied to the shear forcedetection piezoelectric film 211 of the shear force detectionpiezoelectric body 210 on the −X direction side of FIG. 3B. Thus, asshown in FIG. 4B, tensile stress is generated in the shear forcedetection piezoelectric film 211, and the film thickness becomes small.As such, the polarization moment is reduced in the shear force detectionpiezoelectric film 211, a positive charge is generated on the contactsurface to the shear force detection upper electrode 213, and a negativecharge is generated on the contact surface to the shear force detectionlower electrode 212. Thus, a current flows in the direction from theshear force detection lower electrode 212 to the shear force detectionupper electrode 213, and is outputted as an electric signal.

On the other hand, since the moment force as indicated by the arrow M2is applied to the shear force detection piezoelectric film 211 of theshear force detection piezoelectric body 210 on the +X direction side ofFIG. 3B, a compression stress is generated in the shear force detectionpiezoelectric film 211 as shown in FIG. 4C, and the film thicknessbecomes large. As such, the polarization moment is increased in theshear force detection piezoelectric film 211, a negative charge isgenerated on the shear force detection upper electrode 213 and apositive charge is generated on the shear force detection lowerelectrode 212. Thus, a current flows in the direction from the shearforce detection upper electrode 213 to the shear force detection lowerelectrode 212 and is outputted as an electric signal.

3. Output Circuit of the Shear Force Detection Device

The shear force detection device 200 as described above includes anarithmetic circuit 220 to add the shear force detection signal outputtedfrom the shear force detection piezoelectric body 210 on the −Xdirection side and the shear force detection signal outputted from theshear force detection piezoelectric body 210 on the +X direction side.

The arithmetic circuit 220 may be formed on, for example, the sensorsubstrate 11, or may be provided separately from the sensor substrate 11and may be connected to the shear force detection lower electrode 212and the shear force detection upper electrode 213 formed on the sensorsubstrate 11. Incidentally, when the arithmetic circuit is providedseparately from the sensor substrate 11, it may be housed in, forexample, an apparatus to which the shear force detection device 200 isattached.

FIG. 5 is a circuit diagram showing a schematic structure of thearithmetic circuit 220 of the shear force detection device 200.

In the arithmetic circuit 220 of the shear force detection device 200 ofthis embodiment, a connection line 221A to connect the shear forcedetection lower electrode 212 of the shear force detection piezoelectricbody 210A on the −X direction side and the shear force detection upperelectrode 213 of the shear force detection piezoelectric body 210B onthe +X direction side, and a connection line 221B to connect the shearforce detection upper electrode 213 of the shear force detectionpiezoelectric body 210A on the −X direction side and the shear forcedetection lower electrode 212 of the shear force detection piezoelectricbody 210B on the +X direction side are connected to an amplifier (Amp)222.

Here, as shown in FIG. 3B, since the distortion direction is reversedbetween the shear force detection piezoelectric body 210A and the shearforce detection piezoelectric body 210B, the currents outputted from theshear force detection piezoelectric body 210A and the shear forcedetection piezoelectric body 210B are reversed in positive and negative.Accordingly, the shear force detection upper electrode 213 of the shearforce detection piezoelectric body 210A and the shear force detectionlower electrode 212 of the shear force detection piezoelectric body 210Bare connected, and the shear force detection lower electrode 212 of theshear force detection piezoelectric body 210A and the shear forcedetection upper electrode 213 of the shear force detection piezoelectricbody 210B are connected. As a result, the positive and negative signs ofthe currents outputted from the shear force detection piezoelectricbodies 210A and 210B can be made the same sign.

When the currents outputted from the shear force detection piezoelectricbodies 210A and 210B are inputted to an integrator 223 after they areamplified by the amplifier 222, waveforms as shown in FIGS. 6A and 6Bcan be obtained.

FIG. 6A is a view showing the waveform at a point Sa in FIG. 5, and FIG.6B is a view showing the waveform at a point Sb in FIG. 5.

The shear force detection device 200 outputs, for example, a positiveelectric signal as shown in FIG. 6A at timing t1 when the object Acontacts with the elastic film 15 and the shear force is generated inthe X direction. Since the elastic film 15 is returned to the originalposition at, for example, timing t2 when the object A is separated fromthe elastic film 15 and the shear force disappears, the shear forcedetection membrane 141 is also returned to the original position. Anegative electric signal is outputted by the deformation of the shearforce detection piezoelectric body 210 generated at this time. When theelectric signals stated above are inputted to the integrator 223, ashear force detection signal as shown in FIG. 6B is obtained. In thisshear force detection signal, the signal corresponding to the shearforce is continuously outputted during the period in which the shearforce is acting.

4. Operation and effect of the first embodiment

As described above, in the shear force detection device 200 of the firstembodiment, the support film 14 is laminated on the sensor substrate 11in which the shear force detection opening part 111 is formed. The shearforce detection piezoelectric body 210 arranged along the long side 111Aof the shear force detection opening part 111 and extending astride theinside and outside of the shear force detection membrane 141 islaminated on the support film 14, and the elastic film 15 is furtherlaminated on the upper layer thereof. In the shear force detectiondevice having the structure as stated above, when the shear force isapplied to the elastic film 15, the shear force detection membrane 141is distorted by the moment force, and the electric signal correspondingto the shear force is outputted from the shear force detectionpiezoelectric body 210. Accordingly, the shear force can be easilymeasured by detecting the electric signal stated above.

Since the structure is simple in which the support film 14, the shearforce detection piezoelectric body 210 and the elastic film 15 arelaminated on the sensor substrate 11, the respective layers can beeasily formed by lamination through sputtering or the like or patterningthrough etching or the like. Accordingly, for example, it is unnecessaryto perform processing such as to bend a part of the substrate inaccordance with the direction of the shear force. The shear forcedetection device can be manufactured by a simple manufacturing process,and the manufacturing efficiency can be improved.

The shear force detection opening part 111 is formed to be rectangular,and the shear force detection piezoelectric body 210 is arranged alongthe long side 111A of the rectangle.

In the shear force detection membrane 141 formed on the shear forcedetection opening part 111 as stated above, the distortion in the longside direction becomes hard to occur. Accordingly, in the electricsignal outputted from the shear force detection piezoelectric body 210,noise due to the distortion in the long side direction can be removed,and the shear force in the short side direction (X direction) as thedetection direction can be detected at high accuracy.

The pair of shear force detection piezoelectric bodies 210A and 210B areprovided correspondingly to the pair of the long sides 111A of the shearforce detection opening part 111. The compliance part 143 where theshear force detection piezoelectric bodies 210A and 210B are notlaminated is formed at the center of the shear force detection membrane141.

Accordingly, in the shear force detection membrane 141, when viewed in asection as shown in FIG. 3B cut along the short side direction of theshear force detection opening part 111, the distortion which ispoint-symmetric with respect to the compliance part 143, that is, thedistortion of the sine wave shape with one wavelength is generated. Assuch, an inclination angle in the distortion portion in the shear forcedetection membrane 141 becomes large, and the distortion amount of theshear force detection piezoelectric body 210 also becomes large.Accordingly, a larger electric signal can be outputted as the shearforce detection signal, and the shear force detection accuracy can beimproved.

The pair of the shear force detection piezoelectric bodies 210A and 210Bare provided at both sides of the compliance part 143. Here, in theshear force detection membrane 141, when the shear force is applied,deformation substantially point-symmetric with respect to the compliancepart 143 occurs. However, there is a case where the deformation becomesasymmetric by, for example, application of distortion along the longside direction of the shear force detection opening part 111. Also insuch a case, when the shear force detection piezoelectric bodies 210Aand 210B are provided in two regions at both sides of the compliancepart 143, the detection accuracy of the shear force can be improved. Forexample, when the distortion amount of the shear force detectionmembrane 141 on the −X direction side with respect to the compliancepart 143 is small and the distortion amount of the shear force detectionmembrane 141 on the +X direction side is large, when only the shearforce detection piezoelectric body 210A is provided, there is a casewhere the shear force is determined to be small. On the other hand, whenthe shear force detection piezoelectric bodies 210A and 210B areprovided at both sides of the compliance part 143, even when theelectric signal outputted from the shear force detection piezoelectricbody 210A is small, a large electric signal is outputted from the shearforce detection piezoelectric body 210B, and the shear force detectionaccuracy can be improved.

Further, the shear force detection device 200 includes the arithmeticcircuit 220 to add the signals outputted from the respective shear forcedetection piezoelectric bodies 210A and 210B by connecting the shearforce detection upper electrode 213 of the shear force detectionpiezoelectric body 210A and the shear force detection lower electrode212 of the shear force detection piezoelectric body 210B and byconnecting the shear force detection lower electrode 212 of the shearforce detection piezoelectric body 210A and the shear force detectionupper electrode 213 of the shear force detection piezoelectric body210B. A larger shear force detection signal can be obtained by thearithmetic circuit 220, and the shear force detection accuracy can befurther improved.

Second Embodiment

Next, a shear force detection device 200A of a second embodiment will bedescribed with reference to the drawings.

FIGS. 7A and 7B are views showing the shear force detection device 200Aof the second embodiment, in which FIG. 7A is a sectional view showingthe shear force detection device cut along a short side direction of ashear force detection opening part 111, and FIG. 7B is a plan view ofthe shear force detection device 200A. Incidentally, in the followingdescription of the embodiment, the same component as the firstembodiment is denoted by the same reference numeral and its descriptionis omitted or simplified.

The second embodiment is such that a part of the structure of the shearforce detection device 200 of the first embodiment is modified.

That is, similarly to the first embodiment, the shear force detectiondevice 200A of the second embodiment is constructed such that a supportfilm 14, a shear force detection piezoelectric body 210 (210A, 210B) andan elastic film 15 are laminated on a sensor substrate 11.

Here, in the shear force detection opening part 111 formed in the sensorsubstrate 11 of the shear force detection device 200A of the secondembodiment, a support reinforcing part 114 parallel to a long side 111Ais formed at a center position in a short side direction (X direction).

In addition to the shear force detection piezoelectric bodies 210A and210B, a reinforcing film 230 is formed on the support film 14 betweenthe shear force detection piezoelectric bodies 210A and 210B and at aposition of overlapping with the support reinforcing part 114 whenviewed in a sensor plane as shown in FIG. 7B. The reinforcing film 230has only to suppress the change of a compliance part 143, and may beformed by, for example, laminating a lower electrode, a piezoelectricfilm, and an upper electrode at the time of formation of the shear forcedetection piezoelectric body 210. The reinforcing film 230 may be formedby, for example, laminating only a piezoelectric film, or may be anotherfilm member.

In the shear force detection device 200A of the second embodiment asdescribed above, the support film 14 formed on the support reinforcingpart 114 functions as the compliance part according to the invention.

That is, when a shear force is applied to a shear force detectionmembrane 141, the position where the support reinforcing part 114 isformed becomes a constant position, and distortion having a sinewaveform shape is formed on the −X direction side and the +X directionside with respect to the support film 14 on the support reinforcing part114.

Although the reinforcing film 230 may not be provided, in this case, thedistortion amount of the shear force detection membrane 141 becomeslarge in the vicinity of the support reinforcing part 114, and there isa case where the distortion having the normal sine waveform is notformed. On the other hand, when the reinforcing film 230 is provided,the distortion amount of the shear force detection membrane 141 in thevicinity of the support reinforcing part 114 can be suppressed, anddistortion shapes on the −X direction side and the +X direction sidewith respect to the support reinforcing part 114 can be madesubstantially the same.

In the shear force detection device 200A as described above, an electricsignal outputted from the shear force detection piezoelectric body 210Aand an electric signal outputted from the shear force detectionpiezoelectric body 210B have substantially the same absolute valuealthough the signs are different, and a highly reliable shear force canbe detected.

Third Embodiment

Next, a shear force detection device of a third embodiment of theinvention will be described with reference to the drawings.

FIGS. 8A and 8B are sectional views showing the shear force detectiondevice 200B of the third embodiment cut along a short side direction ofa shear force detection opening part 111, in which FIG. 8A is a viewshowing a state where a shear force is not applied, and FIG. 8B is aview showing a state where a shear force is applied.

Since the third embodiment is such that the elastic film 15 of the shearforce detection device 200 of the first embodiment is modified, thedescription of the structure of a sensor substrate 11, a support film 14and a shear force detection piezoelectric body 210 will be omitted.

In the shear force detection device 200B of the third embodiment, aplurality of elastic members 151 are formed on the support film 14 orthe upper layer of the shear force detection piezoelectric body 210.

Each of the elastic members 151 is a plate-like member, and in a statewhere a shear force is not applied, as shown in FIG. 8A, the elasticmember is erected on the support film 14 and the shear force detectionpiezoelectric body 210 so that the plate surface direction isperpendicular to the surface direction of the support film 14 and theshort side direction (shear force detection direction) of the shearforce detection opening part 111. The plurality of elastic members 151are laid in parallel to each other and along the shear force detectiondirection, so that the elastic layer according to the invention isformed.

Incidentally, although the elastic members 151 may be formed into rodshapes and may be erected in the direction perpendicular to the supportfilm 14, in this case, the shear force in the Y direction is alsotransmitted to the support film 14, and this case is inappropriate whenonly the shear force in the X direction is detected. On the other hand,when the plurality of plate-like elastic members 151 are arranged in theX direction as in this embodiment, only the shear force in the Xdirection can be excellently transmitted to the support film 14.

The elastic member 151 as stated above is formed to have rigidity higherthan that of the support film 14, and the rigidity in the plate surfacedirection is formed to be higher than the rigidity in the platethickness direction. Thus, when an object A contacts with a graspingsurface 5, and a shear force is applied, as shown in FIG. 8B, a momentforce acts on the respective elastic members 151, and the support film14 and the shear force detection piezoelectric body 210 are deformed bythis.

In the shear force detection device 200B of the third embodiment asdescribed above, similarly to the first embodiment, the shear force canbe detected by the simple structure. In addition to this, in the shearforce detection device 200B, the respective elastic members 151 arerotated by the moment force, and the support film 14 is deformed by therotation of these elastic members 151. Thus, the distortion amount ofthe support film 14 can be increased in response to the shear forcereceived from the object A, and a larger shear force detection signalcan be outputted from the shear force detection device 200B.Accordingly, the detection accuracy of the shear force can be furtherimproved.

Fourth Embodiment

Next, as an applied example of the shear force detection device asdescribed above, a tactile sensor including the shear force detectiondevice 200 of the first embodiment will be described with reference tothe drawings.

Structure of the Tactile Sensor

FIG. 9 is a plan view in which a part of a tactile sensor of a fourthembodiment is enlarged.

As shown in FIG. 9, the tactile sensor 10 includes plural positivepressure detecting parts 12, and plural first shear force detectingparts 13A and plural second shear force detecting parts 13B in each ofwhich the shear force detection device 200 of the first embodiment isarranged.

Each of the positive pressure detecting parts 12 is a sensor deviceformed into, for example, a square shape, and detects a pressureperpendicular to a sensor plane of the tactile sensor 10.

Similarly to the first embodiment, the first shear force detecting part13A is the shear force detection device 200 long in the Y direction anddetects a shear force generated in the X direction.

The second shear force detecting part 13B is such that the arrangementdirection of the foregoing shear force detection device 200 is changed,and is the shear force detection device 200 which is long in the Xdirection and detects a shear force generated in the Y direction.

These detecting parts 12, 13A and 13B are arranged in a two-dimensionalarray structure on a sensor substrate 11 constituting a support bodyaccording to the invention.

Specifically, as shown in FIG. 9, in a specified rectangular range inthe surface of the sensor substrate 11, the positive detecting parts 12are arranged at positions corresponding to corners of the rectangularrange and on diagonal lines of the rectangle. The first shear forcedetecting part 13A long along a specified one direction and the secondshear force detecting part 13B long in a direction perpendicular to thelongitudinal direction of the first shear force detecting part 13A arearranged at positions adjacent to each of the positive pressuredetecting parts 12. That is, when the coordinate axes of the X directionand the Y direction are set in the plane of the sensor substrate 11, thepositive pressure detecting parts 12 are arranged at positions of (X,Y)=(4n, 4m), (4n, 4m+3), (4n+1, 4m+1), (4n+1, 4m+2), (4n+2, 4 m+1),(4n+2, 4m+2), (4n+3, 4m) and (4n+3, 4m+3), where n and m are naturalnumbers. The first shear force detecting parts 13A are arranged atpositions of (X, Y)=(4n, 4m+1), (4n+1, 4m+3), (4n+2, 4m) and (4n+3, 4m+2), and the second shear force detecting parts 13B are arranged atpositions of (X, Y)=(4n, 4m+2), (4n+1, 4m), (4n+2, 4 m+3) and (4n+3, 4m+1). As stated above, since the positive pressure detecting parts 12,the first shear force detecting parts 13A and the second shear forcedetecting parts 13B are uniformly provided in the plane of the sensorsubstrate 11, even when the object A contacts with any position on thesensor substrate 11, the positive pressure and the shear force can bedetected.

Incidentally, the arrangement structure of the positive pressuredetecting parts 12, the first shear force detecting parts 13A and thesecond shear force detecting parts 13B is not limited to the pattern ofFIG. 9, and for example, another array structure as shown in FIG. 10 maybe formed.

FIG. 10 is a view showing another arrangement example of the positivepressure detecting parts 12 and the shear force detecting parts 13 inthe tactile sensor.

That is, in the tactile sensor 10 shown in FIG. 10, the positivepressure detecting parts 12 are arranged at specified positions on asensor substrate 11, and the shear force detecting parts 13 are arrangedradially on the outer periphery of the positive detecting parts 12 andat intervals of, for example, 45 degrees. In this case, a third shearforce detecting part 13C to detect a shear force in a direction ofinclination of +1 and a fourth shear force detecting part 13D to detecta shear force in a direction of inclination of −1 are provided inaddition to a first shear force detecting part 13A to detect a shearforce in the X direction, and a second shear force detecting part 13B todetect a shear force in the Y direction.

Structure of the Positive Pressure Detecting Part

Next, a structure of the positive pressure detecting part 12constituting the tactile sensor 10 will be described with reference tothe drawings. FIGS. 11A and 11B are views showing a schematic structureof the positive pressure detecting part 12, in which FIG. 11A is asectional view of the positive pressure detecting part 12 cut along asubstrate thickness direction of the sensor substrate 11, and FIG. 11Bis a plan view of the positive pressure detecting part 12 when viewed ina sensor plane.

As shown in FIGS. 11A and 11B, the positive pressure detecting part 12is constructed by laminating a support film 14, a positive pressuredetection piezoelectric body 310 constituting the positive pressuredetection piezoelectric body according to the invention, and an elasticfilm 15 constituting the elastic layer according to the invention on thesensor substrate 11.

Here, the sensor substrate 11, the support film 14 and the elastic film15 constituting the positive pressure detecting part 12 are the same asthe sensor substrate 11, the support film 14 and the elastic film 15constituting the shear force detection device 200 constituting the shearforce detecting part 13A, 13B. That is, the shear force detectionopening part 111 constituting the shear force detection device 200 and asquare positive pressure detection opening part 112 as a positivepressure detection opening part are formed in the one sensor substrate11. The support film 14 and the elastic film 15 are formed on the entiresurface of the sensor substrate 11 so as to cover the sensor substrate11. Accordingly, the detailed description of the sensor substrate 11,the support film 14 and the elastic film 15 will be omitted here.

In the following description, when viewed in a sensor plane as shown inFIG. 11B, the support film 14 overlapping with the inner peripheralregion of the positive pressure detection opening part 112 is called apositive pressure detection membrane 142.

The positive pressure detection piezoelectric body 310 includes apositive pressure detection piezoelectric film 311, a positive pressuredetection lower electrode 312 arranged between the positive pressuredetection piezoelectric film 311 and the support film 14, and a positivepressure detection upper electrode 313 arranged between the positivepressure detection piezoelectric film 311 and the elastic film 15. Thepositive pressure detection piezoelectric film 311, the positivepressure detection lower electrode 312, and the positive pressuredetection upper electrode 313 can be formed of the same material as theshear force detection piezoelectric film 211, the shear force detectionlower electrode 212 and the shear force detection upper electrode 213 ofthe shear force detection device 200.

The positive pressure detection lower electrode 312 is a film-likeelectrode formed to have a thickness of, for example, 200 nm. Thepositive pressure detection lower electrode 312 is formed to extend fromthe center of the square positive pressure detection opening part 112 toa specified one side (in this embodiment, the −X direction). Thepositive pressure detection upper electrode 313 is a film-like electrodeformed to have a thickness of, for example, 50 nm. The positive pressuredetection upper electrode 313 is formed to extend in the oppositedirection (in FIGS. 11A and 11B, the right direction of the papersurface) to the direction in which the positive pressure detection lowerelectrode 312 extends.

The positive pressure detection upper electrode 313 and the positivepressure detection lower electrode 312 are respectively connected to anot-shown pattern electrode formed on the support film 14, and areconnected to, for example, a control device to process a signal from atactile sensor 10 through a conduction member such as, for example, aflexible substrate.

Operation of the Positive Pressure Detecting Part

In the positive pressure detecting part 12 as described above, a voltageis previously applied between the positive pressure detection upperelectrode 313 and the positive pressure detection lower electrode 312 tocause polarization. In this state, when a pressure (positive pressure)in the substrate thickness direction is applied to the tactile sensor10, the positive pressure detection membrane 142 is distorted to thepositive pressure detection opening part 112 side by the positivepressure. As such, the positive pressure detection piezoelectric body310 formed on the positive pressure detection membrane 142 is alsodistorted, and a potential difference is generated in the positivepressure detection piezoelectric film 311. Accordingly, a current basedon the potential difference flows to the positive pressure detectionupper electrode 313 and the positive pressure detection lower electrode312, and is outputted as a positive pressure detection signal from thetactile sensor 10.

Operation and Effect of the Fourth Embodiment

In the tactile sensor 10 of the fourth embodiment as described above,the shear force detection device 200 of the first embodiment isarranged. As described before, in the shear force detection device 200,the respective layers can be easily formed by lamination usingsputtering or the like or patterning using etching or the like.Accordingly, also in the tactile sensor 10 in which the shear forcedetection devices 200 are arranged in the array structure as shown inFIG. 9 or FIG. 10, the same operation and effect as those of the shearforce detection device 200 are obtained, the reduction in thickness andsize can be realized by the simple structure, and the manufacturingefficiency can be improved.

In addition to this, in the tactile sensor 10, the one sensor substrate11 is used as the support body according to the invention and thepositive pressure detection support body. The support film 14 and theelastic film 15 are formed on the entire surface of the sensor substrate11, and the positive pressure detecting part 12 and the shear forcedetecting parts 13A and 13B are constructed. Thus, as compared with astructure in which the positive pressure detecting part 12, and theshear force detecting parts 13A and 13B are manufactured one by one andare arranged on the substrate, the tactile sensor 10 including therespective detecting parts 12, 13A and 13B arranged on the sensorsubstrate 11 in the array structure can be manufactured at one time, andthe manufacturing efficiency and the cost can be improved.

In the tactile sensor 10 as described above, the plural first shearforce detecting parts 13A and the plural second shear force detectingparts 13B in which the arrangement directions of the shear forcedetection devices 200 are varied are provided.

The tactile sensor 10 as described above can detect the shear force inboth the X direction and the Y direction. That is, the shear force inall directions acting along the sensor surface of the tactile sensor 10can be detected.

The tactile sensor 10 includes the positive pressure detecting part 12.Accordingly, not only the shear force acting on the sensor surface ofthe tactile sensor 10, but also the pressure perpendicular to the sensorsurface can be detected, and the force acting in each direction when theobject A contacts with the tactile sensor 10 can be suitably detected.

Fifth Embodiment

Next, as an applied example of the tactile sensor 10 of the fourthembodiment, a grasping apparatus including the tactile sensor 10 will bedescribed with reference to the drawings.

FIG. 12 is an apparatus block diagram showing a schematic structure ofthe grasping apparatus of the fifth embodiment of the invention.

In FIG. 12, the grasping apparatus 1 includes at least a pair ofgrasping arms 2, and grasps an object A by the grasping arms 2. Thegrasping apparatus 1 is, for example, an apparatus to grasp and lift anobject conveyed by a belt conveyor or the like in such as amanufacturing factory for manufacturing products. The grasping apparatus1 includes the grasping arms 2, an arm drive part 3 to drive thegrasping arms 2, and a control device 4 to control driving of the armdrive part 3.

The pair of grasping arms 2 have grasping surfaces as contact surfacesat respective tip parts, and bring the grasping surfaces 5 into contactwith the object A to grasp and lift the object A. Here, in thisembodiment, although the structure is exemplified in which the pair ofgrasping arms 2 are provided, no limitation is made to this. Forexample, the object A may be grasped at three points by three graspingarms 2.

The tactile sensor 10 described in the fourth embodiment is provided onthe surface of the grasping surface 5 provided on the grasping arm 2,and the elastic film 15 (see FIG. 1, FIGS. 11A and 11B) of the surfacepart of the tactile sensor 10 is formed to be exposed. The grasping arm2 grasps the object A by causing the elastic film 15 to contact with theobject A and by applying a specified pressure (positive pressure) to theobject A. In the grasping arm 2 as stated above, the tactile sensor 10provided on the grasping surface 5 detects the positive pressure appliedto the object A and the shear force caused by the object A which isurged to be slid down from the grasping surface 5 when the object isgrasped, and outputs an electric signal corresponding to the positivepressure and the shear force to the control device 4.

The arm drive part 3 is a device to move the pair of grasping arms 2 ina direction of approaching and separating each other. The arm drive part3 includes a hold member 6 to movably hold the grasping arm 2, a drivesource 7 to generate a driving force to move the grasping arm 2, and adrive transmission part 8 to transmit the driving force of the drivesource to the grasping arm 2.

The hold member 6 includes, for example, a guide groove along themovement direction of the grasping arm 2, and holds the grasping arm 2through the guide groove so that the grasping arm is movably held. Thehold member 6 is provided to be movable in the vertical direction.

The drive source 7 is, for example, a drive motor, and generates thedriving force according to a drive control signal inputted from thecontrol device 4.

The drive transmission part 8 includes, for example, plural gears,transmits the driving force generated in the drive source 7 to thegrasping arm 2 and the hold member 6, and moves the grasping arm 2 andthe hold member 6.

Incidentally, in this embodiment, although the above structure isdescribed as an example, no limitation is made to this. That is, nolimitation is made to the structure in which the grasping arm 2 is movedalong the guide groove of the hold member 6, and the structure may besuch that the grasping arm is rotatably held. As the drive source 7, nolimitation is made to the drive motor, and for example, a hydraulic pumpmay be used to drive. The drive transmission part 8 is not limited to,for example, a structure in which the driving force is transmitted bygears, and a structure in which driving force is transmitted by a beltor a chain, or a structure including a piston driven by hydraulicpressure or the like may be adopted.

The control device 4 is connected to the tactile sensor 10 provided onthe grasping surface 5 of the grasping arm 2 and the arm drive part 3,and controls the entire operation of grasping the object A in thegrasping apparatus 1.

Specifically, as shown in FIG. 12, the control device 4 is connected tothe arm drive part 3 and the tactile sensor 10, and controls the entireoperation of the grasping apparatus 1. The control device 4 includes asignal detection unit 41 that reads a shear force detection signal and apositive pressure detection signal inputted from the tactile sensor 10,a grasping detection unit 42 that detects a slide state of the object A,and a drive control unit 43 that outputs a drive control signal forcontrolling the driving of the grasping arm 2 to the arm drive part 3.As the control device 4, for example, a general purpose computer such asa personal computer can be used, and the structure may include an inputdevice such as a keyboard, a display part to display the grasping stateof the object A, and the like.

The signal detection unit 41, the grasping detection unit 42 and thedrive control unit 43 may be stored as programs in a storage sectionsuch as a memory, and may be suitably read and executed by an arithmeticcircuit such as a CPU, or may be constructed of, for example, anintegrated circuit which performs specified processing on an inputtedelectric signal.

The signal detection unit 41 is connected to the tactile sensor 10, andrecognizes the positive pressure detection signal and the shear forcedetection signal and the like inputted from the tactile sensor 10. Thedetection signal recognized by the signal detection unit 41 is outputtedto and stored in a storage section such as a not-shown memory and isoutputted to the grasping detection unit 42.

The grasping detection unit 42 determines, based on the shear forcedetection signal, whether the grasping arm 2 grasps the object A.

Here, FIG. 13 shows a relation between the positive pressure and theshear force acting on the tactile sensor in the grasping operation ofthe grasping apparatus 1.

In FIG. 13, until the positive pressure reaches a specified value, theshear force increases according to the increase of the positivepressure. This state is a state where a dynamic friction force actsbetween the object A and the grasping surface 5. The grasping detectionunit 42 determines that the state is such that the object A is slidingdown from the grasping surface 5 and the grasping is not completed. Onthe other hand, when the positive pressure becomes the specified valueor more, the state becomes such that even if the positive pressure isincreased, the shear force is not increased. This state is the statewhere a static friction force acts between the object A and the graspingsurface 5, and the grasping detection unit 42 determines that the stateis a grasping state where the object A is grasped by the graspingsurface 5.

Specifically, when the value of the shear force detection signal exceedsa specified threshold corresponding to the static friction force, it isdetermined that the grasping is completed.

The drive control unit 43 controls the operation of the arm drive part 3based on the electric signal detected by the grasping detection unit 42.

Next, the operation of the control device 4 will be described withreference to the drawings.

FIG. 14 is a flowchart showing the grasping operation of the graspingapparatus 1 by the control of the control device 4. FIG. 15 is a timingchart showing signal timings of a drive control signal to the arm drivepart 3 and a detection signal outputted from the tactile sensor 10.

In order to grasp the object A by the grasping apparatus 1, first, thedrive control unit 43 of the control device 4 outputs a drive controlsignal to move the respective grasping arms 2 in the direction ofapproaching each other to the arm drive part 3 (grasping operation). Assuch, the grasping surfaces 5 of the grasping arms 2 approach the objectA (FIG. 14: step S1).

Next, the grasping detection unit 42 of the control device 4 determineswhether the object A contacts with the grasping surface 5 (FIG. 14: stepS2). Specifically, the control device 4 determines whether the signaldetection unit 41 detects the input of the positive pressure detectionsignal. Here, when the positive detection signal is not detected, it isdetermined that the grasping surface 5 does not contact with the objectA, and the drive control unit 43 continues step S1 to output the drivecontrol signal, and drives the grasping arm 2.

On the other hand, when the grasping surface 5 contacts with the objectA (FIG. 15: timing T1), the positive pressure detection membrane 142 ofthe positive pressure detecting part 12 of the tactile sensor 10 isdistorted, and the positive pressure detection signal corresponding tothe distortion amount is outputted.

When the grasping detection unit 42 detects the positive pressuredetection signal, the drive control unit 43 stops the approachingmovement of the grasping arms 2 (pressing to the object A) (FIG. 14:step S3, FIG. 15: timing T2). The drive control unit 43 outputs thedrive control signal to the arm drive part 3, and causes the operationof lifting the grasping arm 2 to be performed (lifting operation) (FIG.14: step S4, FIG. 15: timing T2 to T3).

Here, when the object A is lifted, the elastic film 15 is distorted bythe shear force, and the distortion occurs also in the shear forcedetection membrane 141 of the shear force detection device 200constituting the shear force detecting parts 13A, 13B. Accordingly, theshear force detection signal corresponding to the distortion of theshear force detection membrane 141 is outputted from the shear forcedetecting parts 13A, 13B.

The grasping detection unit 42 determines, based on the shear forcedetection signal inputted to the signal detection unit 41, whethersliding is occurring (step S5).

At this time, when the grasping detection 42 determines that sliding isoccurring, the drive control unit 43 controls the arm drive part 3,moves the grasping arm 2 in the direction in which the grasping surface5 is pressed to the object A, and increases the grasping force (positivepressure) (FIG. 14: step S6).

That is, at timing T3 of FIG. 15, the control device 4 causes the drivecontrol unit 43 to perform the grasping operation, and increases thepositive pressure to the object A. The signal detection unit 41 againdetects the shear force detection signal outputted from the shear forcedetecting parts 13A, 13B. The foregoing slide detection operation(timing T2 to T6) is repeated, and when the shear force detection signalbecomes the specified threshold S1 or more (timing T6), it is determinedat step S5 that there is no sliding, that is, the grasping is completed,and the slide detection operation is stopped.

Operation and Effect of the Fifth Embodiment

The grasping apparatus 1 of the fifth embodiment as described aboveincludes the tactile sensor 10 of the fourth embodiment. As describedabove the tactile sensor 10 can be reduced in thickness and size by thesimple structure, and the manufacturing efficiency can also be improved.Thus, also in the grasping apparatus 1, the same operation and effectcan be obtained.

The tactile sensor 10 is provided on the grasping surface 5 of thegrasping apparatus 1 as described above. Accordingly, the positivepressure and the shear force when the object A is grasped can bedetected by the tactile sensor 10 at high accuracy, and the graspingoperation without damage and sliding of the object A can be performed athigh accuracy based on the detected positive pressure and the shearforce.

The tactile sensor 10 can detect the shear force in both the X directionand the Y direction. Accordingly, in the embodiment, although the shearforce when the object A is lifted is measured, for example, when theobject conveyed on a belt conveyor is grasped, the shear force in theconveyance direction can also be measured.

Other Embodiments

Incidentally, the invention is not limited to the foregoing embodimentsand includes modifications and improvements within the scope where theobject of the invention can be achieved.

For example, in the first to the third embodiments, although the shearforce detection piezoelectric body 210 (210A, 210B) is provided on eachof the pair of long sides 111A of the one rectangular shear forcedetection opening part 111, no limitation is made to this. For example,as shown in FIG. 16, the shear force detection piezoelectric body 210may be provided for one of the pair of long sides 111A of the shearforce detection opening part 111.

In this case, the size of the shear force detection device 200 in theshort side direction can be formed to be smaller, and the shear forcedetection device 200 and the tactile sensor 10 can be furtherminiaturized.

As shown in FIG. 16, in the structure in which the shear force detectionpiezoelectric body 210 is provided for one of the pair of long sides111A of the shear force detection opening part 111, there is a concernthat the shear force detection signal outputted from the one shear forcedetection device 200 becomes small. On the other hand, as shown in FIGS.17A and 17B, a structure including a shear force detection device 200Cprovided with a so-called bimorph may be adopted in which two shearforce detection piezoelectric films 211 are superimposed for one longside 111A. FIGS. 17A and 17B are views showing the shear force detectiondevice 200C having the bimorph shear force detection piezoelectric body210 according to another embodiment, in which FIG. 17A is a sectionalview along the short side direction, and FIG. 17B is a plan view whenviewed in a sensor plane.

Specifically, in the shear force detection device 200C, a shear forcedetection piezoelectric body 210C is formed along, for example, the longside 111A on the −X direction side in the pair of long sides 111A of theshear force detection opening part 111. The shear force detectionpiezoelectric body 210C can be easily formed by laminating a shear forcedetection lower electrode 212, a first layer piezoelectric film 215, anintermediate electrode 216, a second layer piezoelectric film 217, and ashear force detection upper electrode 213 in sequence on a support film14. Since electric signals are outputted from the first layerpiezoelectric film 215 and the second layer piezoelectric film 217respectively, the sum of these electric signals is outputted as theshear force detection signal outputted from the shear force detectiondevice 200C. Thus, a large signal value can be obtained. Accordingly, byproviding the one shear force detection piezoelectric body 210C as shownin FIGS. 17A and 17B for the one shear force detection opening part 111as shown in FIG. 16, the shear force detection device 200C and thetactile sensor can be miniaturized without reducing the shear forcedetection accuracy.

When the shear force detection device 200C as shown in FIGS. 17A and 17Bis used, the arithmetic circuit 220 to connect the electrodes of the twoshear force detection piezoelectric bodies 210A and 210B as shown inFIG. 5 is not required, and the circuit structure can be furthersimplified.

Further, in the first embodiment, although the shear force detectionpiezoelectric bodies 210A and 210B are constructed as individual bodies,and each of them includes the shear force detection upper electrode 213and the shear force detection lower electrode 212, the structure asshown in, for example, FIGS. 18A and 18B may be adopted. FIGS. 18A and18B are views showing the structure of a shear force detection deviceaccording to another embodiment, in which FIG. 18A is a sectional viewcut along a short side direction (X direction), and FIG. 18B is a planview when viewed in a sensor plane.

In a shear force detection device 200D shown in FIGS. 18A and 18B, ashear force detection piezoelectric body 210A and a shear forcedetection piezoelectric body 210B are respectively provided on a supportfilm 14 along a pair of long sides 111A of a shear force detectionopening part 111. The shear force detection piezoelectric body 210Aarranged on the −X direction side includes a shear force detection lowerelectrode 212A, a shear force detection piezoelectric film 211A, and ashear force detection upper electrode 213A. The shear force detectionpiezoelectric body 210B arranged on the +X direction side includes ashear force detection lower electrode 212B, a shear force detectionpiezoelectric film 211B and a shear force detection upper electrode213B.

Here, the shear force detection lower electrode 212A arranged on the −Xdirection side is formed to protrude from the shear force detectionpiezoelectric film 211A to the +X direction side. On the other hand, the−X direction side edge of the shear force detection lower electrode 212Barranged on the +X direction side is positioned on the +X direction siderelative to the −X direction side edge of the shear force detectionpiezoelectric film 211B. That is, the −X direction side edge of theshear force detection lower electrode 212B is covered with the shearforce detection piezoelectric film 211B. A first electrode connectionpart 212B1 extending to the outer region of a shear force detectionmembrane 141 in the ±Y directions is continuously formed at the −Xdirection side end of the shear force detection lower electrode 212B.

The shear force detection upper electrode 213A of the shear forcedetection piezoelectric body 210A arranged on the −X direction side isformed to be long in the Y direction, and is arranged to cover the shearforce detection piezoelectric film 211A. A second electrode connectionpart 213A1 extending to the first electrode connection part 212B1 iscontinuously formed in the +X direction at each of the +Y direction sideend and the −Y direction side end of the shear force detection upperelectrode 213A. That is, in the second electrode connection part 213A1,the extended tip is laminated on the first electrode connection part212B1, so that the shear force detection upper electrode 213A and theshear force detection lower electrode 212B are electrically connected toeach other.

Further, the shear force detection upper electrode 213B of the shearforce detection piezoelectric body 210B arranged on the +X directionside is formed to extend from a portion on the shear force detectionpiezoelectric film 211B in the −X direction to a portion on the +Xdirection side end of the shear force detection lower electrode 212Aprotruding in the +X direction from the +X direction side edge of theshear force detection piezoelectric film 211A. That is, in the shearforce detection upper electrode 213B, the −X direction side end islaminated on the shear force detection lower electrode 212A, so that theshear force detection upper electrode 213B and the shear force detectionlower electrode 212A are electrically connected to each other.

In the shear force detection device 200D having the structure asdescribed above, a part of the arithmetic circuit 220 as shown in FIG. 9of the first embodiment is formed on the shear force detection membrane141 or in the vicinity of the shear force detection membrane 141.Accordingly, the shear force detection signal can be obtained in whichthe electric signals outputted from the shear force detectionpiezoelectric bodies 210A and 210B are added and amplified. In the shearforce detection device 200D, the shear force detection signal can beobtained by connecting a lead line or an electrode pattern to one of theshear force detection lower electrode 212A and the shear force detectionupper electrode 213B and one of the shear force detection lowerelectrode 212B and the shear force detection upper electrode 213A. Thus,the structure can be simplified, and a wiring connection process and awiring pattern formation process can be easily performed.

In the first to the third embodiments and the embodiments of FIG. 16 toFIG. 18B, the structure is exemplified in which the one shear forcedetection device 200, 200A, 200B, 200C, or 200D detects the shear forceacting in the X direction. However, as shown in FIG. 19, a structure maybe such that shear forces in both the X direction and the Y direction isdetected. FIG. 19 is a plan view showing a shear force detection device200E capable of detecting shear forces in the X direction and the Ydirection.

That is, as shown in FIG. 19, a square shear force detection openingpart 111C is formed in a sensor substrate 11, and a support film 14 toclose the shear force detection opening part 111C is formed. Shear forcedetection piezoelectric bodies 210C, 210D, 210E, 210F extending astridethe inside and outside of a shear force detection membrane 141 areformed on the respective sides of the shear force detection opening part111C. In the shear force detection device 200E having the structure asstated above, the shear force detection piezoelectric bodies 210C and210D formed along the side parallel to the Y direction detect the shearforce in the X direction, and the shear force detection piezoelectricbodies 210E and 210F formed along the side parallel to the X directiondetect the shear force in the Y direction.

In the shear force detection device 200 having the structure as statedabove, since the one shear force detection device 200E can detect theshear forces in the X direction and the Y direction, the tactile sensor10 can be miniaturized.

In the first embodiment, although the arithmetic circuit 220 to add theelectric signals outputted from the shear force detection piezoelectricbody 210A and the shear force detection piezoelectric body 210B isexemplified, no limitation is made to this. For example, a structure maybe such that the electric signal outputted from the shear forcedetection piezoelectric body 210A and the electric signal outputted fromthe shear force detection piezoelectric body 210B are outputted to asubtraction circuit, and the shear force is detected by calculating thedifference by the subtraction circuit. Also in this case, since theelectric signals outputted from the shear force detection piezoelectricbody 210A and the shear force detection piezoelectric body 210B havevalues different in positive and negative signs, when they aresubtracted by the subtraction circuit, an output value having a largeabsolute value can be resultantly obtained.

Further, in the above respective embodiments, although the shear forcedetection upper electrode 213 and the shear force detection lowerelectrode 212 are provided at positions where they do not overlap witheach other when viewed in a sensor plane so as to prevent them fromcontacting with each other, no limitation is made to this. For example,when an insulating film is formed between the shear force detectionupper electrode 213 and the shear force detection lower electrode 212,the shear force detection upper electrode 213 and the shear forcedetection lower electrode 212 may be provided at positions where partsthereof overlap with each other when viewed in a sensor plane.

In the second embodiment, although the reinforcing film 230 is formedabove the support reinforcing part 114, for example, the structure maybe such that the reinforcing film 230 is not provided.

In the third embodiment, although the structure is exemplified in whichthe plate-like elastic members 151 are provided along the X direction,the size of the plate-like elastic member 151 in the Y direction may beformed to be the same as the length of the long side 111A of the shearforce detection opening part 111, or may be formed to be shorter thanthe long side 111A and the elastic members are provided side by sidealong the Y direction.

Further, in the first to the fifth embodiments, although the shear forcedetection opening part 111 constituting the shear force detection device200 is formed to be rectangular when viewed in a plane, no limitation ismade to this. The shape of the shear force detection opening part 111 isarbitrary as long as a distortion having a sine waveform shape isgenerated in the shear force detection membrane 141 when a shear forceacts along the shear force detection direction (X direction in the firstto the third embodiments). Accordingly, as shown in FIG. 20, a shearforce detection opening part 111D may be formed into a shape in which apair of straight parts 111D1 parallel to each other are provided andboth ends of the straight parts 111D1 are coupled by semicircles 111D2.In the shear force detection opening part 111D as stated above, when theshear force detection piezoelectric body 210 is formed along thestraight part 111D1, the shear force acting in the directionperpendicular to the straight part 111D1 can be detected.

In the first embodiment, although the compliance part 143 is formed atthe position where the shear force detection piezoelectric body 210 onthe shear force detection membrane 141 is not formed, no limitation ismade to this. For example, in the shear force detection membrane 141, aconcave groove parallel to the long side 111A may be formed at thecenter position between the short sides 111B and 111B. In this case,since the thickness of the concave groove portion is thin and soft ascompared with the other region of the support film 14, the compliancepart 143 is obtained.

Although the example is described in which the support body according tothe invention is formed of the one sensor substrate 11, a structure maybe such that one support substrate (support body) is provided for eachof the shear force detecting parts 13A and 13B and the positive pressuredetecting part 12, and the support substrates are fixed to the sensorsubstrate to form the tactile sensor 10.

Further, although the structure is exemplified in which the pair ofgrasping arms 2 are provided in the grasping apparatus 1, the structuremay be such that three or more grasping arms are moved in the directionof approaching and separating each other to grasp the object A. Thestructure may be such that a drive arm driven by an arm driving part anda not-driven fixed arm or fixed wall are provided, and the drive arm ismoved to the fixed arm (fixed wall) side to grasp the object.

Further, although the example is described in which the shear forcedetection device 200, 200A, 200B, 200C, 200D or 200E is applied to thegrasping apparatus 1 to grasp the object A, no limitation is made tothis. For example, the tactile sensor 10 including the shear forcedetection device 200, 200A, 200B, 200C, 200D or 200E may be applied as,for example, an input apparatus or a measuring apparatus to measure ashear force. When used as the input apparatus, the tactile sensor can beincorporated in, for example, a notebook computer or a personalcomputer. Specifically, a structure in which the tactile sensor 10 isprovided on the surface part provided in a plate-like input apparatusbody is exemplified. In the input apparatus as stated above, when afinger of a user is moved on the surface part or a touch pen is moved, ashear force is generated by these movements. The shear force sensor 10detects the shear force, so that the contact position coordinate and themovement direction of the finger of the user or the touch pen canoutputted as an electric signal. As the shear force measuring apparatus,the invention can be applied to, for example, a measuring apparatus tomeasure the grip force of a tire.

1. A tactile sensor comprising: a plurality of shear force detectiondevices each including: a support body including an opening defined by apair of straight parts perpendicular to a detection direction of theshear force and parallel to each other; a support film on the supportbody and closing the opening, the support film having flexibility; apiezoelectric part on the support film and extending astride an insideand outside of the opening and along at least one of the pair ofstraight parts of the opening when viewed in a plane in which thesupport body is seen in a substrate thickness direction, thepiezoelectric part being bendable to output an electric signal; and anelastic layer covering the piezoelectric part and the support film; anda first direction shear force detecting part in which the straight partof the shear force detection device is provided along a first direction,and a second direction shear force detecting part in which the straightpart of the shear force detection device is provided along a seconddirection different from the first direction.
 2. The tactile sensoraccording to claim 1, further comprising a positive pressure detectingpart to detect a pressure in a contact direction perpendicular to asurface direction of the support film at a time of contact with anobject, wherein the positive pressure detecting part includes: apositive pressure detection opening opened in the support body; asupport film closing the positive pressure detection opening and havingflexibility; a positive pressure detection piezoelectric body on thesupport film and inside the positive pressure detection opening whenviewed in the plane in which the support body is seen in the substratethickness direction, and is bendable to output an electric signal, andan elastic layer to cover the positive pressure piezoelectric body andthe support film.
 3. A grasping apparatus for grasping an object,comprising: a tactile sensor including: a plurality of shear forcedetection devices each including: a support body including an openingdefined by a pair of straight parts perpendicular to a detectiondirection of the shear force and parallel to each other; a support filmon the support body and closing the opening, the support film havingflexibility; a piezoelectric part on the support film and extendingastride an inside and outside of the opening and along at least one ofthe pair of straight parts of the opening when viewed in a plane inwhich the support body is seen in a substrate thickness direction, thepiezoelectric part being bendable to output an electric signal; and anelastic layer covering the piezoelectric part and the support film; anda first direction shear force detecting part in which the straight partof the shear force detection device is provided along a first direction,and a second direction shear force detecting part in which the straightpart of the shear force detection device is provided along a seconddirection different from the first direction; and at least a pair ofgrasping arms which grasp the object and in which the tactile sensor isprovided on a contact surface to contact with the object; a graspingdetection unit that detects a slide state of the object based on theelectric signal outputted from the tactile sensor; and a drive controlunit that controls driving of the grasping arms based on the slidestate.